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<div class="title">leg.hpp</div>  </div>
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<a href="leg_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/threadsafe/threadsafe_timeseries.hpp&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="motor_8hpp.html">blmc_drivers/devices/motor.hpp</a>&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="device__interface_8hpp.html">blmc_drivers/devices/device_interface.hpp</a>&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__drivers.html">blmc_drivers</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html">   26</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__drivers_1_1LegInterface.html">LegInterface</a>: <span class="keyword">public</span> <a class="code" href="classblmc__drivers_1_1DeviceInterface.html">DeviceInterface</a></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;{</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">   32</a></span>&#160;    <span class="keyword">typedef</span> real_time_tools::ThreadsafeTimeseries&lt;double&gt; <a class="code" href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">ScalarTimeseries</a>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    </div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">   40</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Type&gt; <span class="keyword">using</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr</a> = std::shared_ptr&lt;Type&gt;;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html#a9335cf8bf2595f70716159927d927346">   46</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#a9335cf8bf2595f70716159927d927346">MotorMeasurementIndexing</a> {current, position, velocity, encoder_index,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                   motor_measurement_count};</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html#a2a11567617debfdb731ac06e2938712c">   52</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#a2a11567617debfdb731ac06e2938712c">MotorIndexing</a> {hip, knee, motor_count};</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1LegInterface.html#afe46102b0ce1c790e921d71f86868066">   57</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#afe46102b0ce1c790e921d71f86868066">~LegInterface</a>() {}</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <a class="code" href="classblmc__drivers_1_1LegInterface.html#ae653c7ee0ab7aa9d16a6bfce01580200">get_motor_measurement</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index,</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                          <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; measurement_index) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    </div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="classblmc__drivers_1_1LegInterface.html#a44bac5c9a6015f0e08370b3bc9957512">get_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="classblmc__drivers_1_1LegInterface.html#ab724283c8eeadca0e7b8829de64f4f44">get_sent_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#a6917a158f12589c9ee6aa45304fdafce">set_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; current_target,</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                                    <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index) = 0;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#aaf3d3759b63a3ffe7e9cee360302f9b7">send_if_input_changed</a>() = 0;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;};</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html">  128</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__drivers_1_1Leg.html">Leg</a>: <span class="keyword">public</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html">LegInterface</a></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#aaa53f0583fcfd7f4e8aa32889aaa2f85">  137</a></span>&#160;    <a class="code" href="classblmc__drivers_1_1Leg.html#aaa53f0583fcfd7f4e8aa32889aaa2f85">Leg</a>(std::shared_ptr&lt;MotorInterface&gt; hip_motor,</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        std::shared_ptr&lt;MotorInterface&gt; knee_motor)</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      motors_[hip] = hip_motor;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      motors_[knee] = knee_motor;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    }</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#add76148d01d09ecb505bb23ce34d45c8">  147</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1Leg.html#add76148d01d09ecb505bb23ce34d45c8">~Leg</a>() {}</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#a585436aebc39562a5d1a486810b8b9ce">  161</a></span>&#160;    <a class="code" href="classblmc__drivers_1_1Leg.html#a585436aebc39562a5d1a486810b8b9ce">get_motor_measurement</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index,</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                          <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; measurement_index)<span class="keyword"> const</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">return</span> motors_[motor_index]-&gt;get_measurement(measurement_index);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="comment">// input logs --------------------------------------------------------------</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#af4428c8734c5b393df8072a14850d9b1">  169</a></span>&#160;    <a class="code" href="classblmc__drivers_1_1Leg.html#af4428c8734c5b393df8072a14850d9b1">get_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index)<span class="keyword"> const</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordflow">return</span> motors_[motor_index]-&gt;get_current_target();</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">Ptr&lt;const ScalarTimeseries&gt;</a></div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#a353253074a39f566055121c2cb4adc6a">  174</a></span>&#160;    <a class="code" href="classblmc__drivers_1_1Leg.html#a353253074a39f566055121c2cb4adc6a">get_sent_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index)<span class="keyword"> const</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordflow">return</span> motors_[motor_index]-&gt;get_sent_current_target();</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#a05415969ef111f86837b34bdaecb7320">  180</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classblmc__drivers_1_1Leg.html#a05415969ef111f86837b34bdaecb7320">set_current_target</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; current_target,</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                                    <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; motor_index)</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        motors_[motor_index]-&gt;set_current_target(current_target);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    }</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classblmc__drivers_1_1Leg.html#a82bb681e4c5047babf699cff559e9488">  187</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classblmc__drivers_1_1Leg.html#a82bb681e4c5047babf699cff559e9488">send_if_input_changed</a>()</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; motors_.size(); i++)</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            motors_[i]-&gt;<a class="code" href="classblmc__drivers_1_1LegInterface.html#aaf3d3759b63a3ffe7e9cee360302f9b7">send_if_input_changed</a>();</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    }</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    std::array&lt;std::shared_ptr&lt;MotorInterface&gt;, 2&gt; motors_;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;};</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;}</div><div class="ttc" id="classblmc__drivers_1_1LegInterface_html_ab724283c8eeadca0e7b8829de64f4f44"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#ab724283c8eeadca0e7b8829de64f4f44">blmc_drivers::LegInterface::get_sent_current_target</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_sent_current_target(const int &amp;motor_index) const =0</div><div class="ttdoc">Get the last sent target current. </div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_a05415969ef111f86837b34bdaecb7320"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#a05415969ef111f86837b34bdaecb7320">blmc_drivers::Leg::set_current_target</a></div><div class="ttdeci">virtual void set_current_target(const double &amp;current_target, const int &amp;motor_index)</div><div class="ttdoc">setters ================================================================ </div><div class="ttdef"><b>Definition:</b> leg.hpp:180</div></div>
<div class="ttc" id="namespaceblmc__drivers_html"><div class="ttname"><a href="namespaceblmc__drivers.html">blmc_drivers</a></div><div class="ttdoc">This namespace is the standard namespace of the package. </div><div class="ttdef"><b>Definition:</b> analog_sensors.cpp:15</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_add76148d01d09ecb505bb23ce34d45c8"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#add76148d01d09ecb505bb23ce34d45c8">blmc_drivers::Leg::~Leg</a></div><div class="ttdeci">virtual ~Leg()</div><div class="ttdoc">Destroy the Leg object. </div><div class="ttdef"><b>Definition:</b> leg.hpp:147</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_ac5af9e6514abff5ee918813925a8e42d"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#ac5af9e6514abff5ee918813925a8e42d">blmc_drivers::LegInterface::Ptr</a></div><div class="ttdeci">std::shared_ptr&lt; Type &gt; Ptr</div><div class="ttdoc">This is a shortcut for creating shared pointer in a simpler writting expression. </div><div class="ttdef"><b>Definition:</b> leg.hpp:40</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_a82bb681e4c5047babf699cff559e9488"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#a82bb681e4c5047babf699cff559e9488">blmc_drivers::Leg::send_if_input_changed</a></div><div class="ttdeci">virtual void send_if_input_changed()</div><div class="ttdoc">sender ================================================================= </div><div class="ttdef"><b>Definition:</b> leg.hpp:187</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_a585436aebc39562a5d1a486810b8b9ce"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#a585436aebc39562a5d1a486810b8b9ce">blmc_drivers::Leg::get_motor_measurement</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_motor_measurement(const int &amp;motor_index, const int &amp;measurement_index) const </div><div class="ttdoc">Getters. </div><div class="ttdef"><b>Definition:</b> leg.hpp:161</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_a353253074a39f566055121c2cb4adc6a"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#a353253074a39f566055121c2cb4adc6a">blmc_drivers::Leg::get_sent_current_target</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_sent_current_target(const int &amp;motor_index) const </div><div class="ttdoc">Get the last sent target current. </div><div class="ttdef"><b>Definition:</b> leg.hpp:174</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html">blmc_drivers::LegInterface</a></div><div class="ttdoc">This class defines an interface to control a leg. </div><div class="ttdef"><b>Definition:</b> leg.hpp:26</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_ae653c7ee0ab7aa9d16a6bfce01580200"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#ae653c7ee0ab7aa9d16a6bfce01580200">blmc_drivers::LegInterface::get_motor_measurement</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_motor_measurement(const int &amp;motor_index, const int &amp;measurement_index) const =0</div><div class="ttdoc">Getters. </div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_aaa53f0583fcfd7f4e8aa32889aaa2f85"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#aaa53f0583fcfd7f4e8aa32889aaa2f85">blmc_drivers::Leg::Leg</a></div><div class="ttdeci">Leg(std::shared_ptr&lt; MotorInterface &gt; hip_motor, std::shared_ptr&lt; MotorInterface &gt; knee_motor)</div><div class="ttdoc">Construct a new Leg object. </div><div class="ttdef"><b>Definition:</b> leg.hpp:137</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_a44bac5c9a6015f0e08370b3bc9957512"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#a44bac5c9a6015f0e08370b3bc9957512">blmc_drivers::LegInterface::get_current_target</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_current_target(const int &amp;motor_index) const =0</div><div class="ttdoc">Get the actual target current. </div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_a6917a158f12589c9ee6aa45304fdafce"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#a6917a158f12589c9ee6aa45304fdafce">blmc_drivers::LegInterface::set_current_target</a></div><div class="ttdeci">virtual void set_current_target(const double &amp;current_target, const int &amp;motor_index)=0</div><div class="ttdoc">Setters. </div></div>
<div class="ttc" id="classblmc__drivers_1_1DeviceInterface_html"><div class="ttname"><a href="classblmc__drivers_1_1DeviceInterface.html">blmc_drivers::DeviceInterface</a></div><div class="ttdoc">this class exists purely for logical reasons, it does not in itself implement anything. </div><div class="ttdef"><b>Definition:</b> device_interface.hpp:36</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html_af4428c8734c5b393df8072a14850d9b1"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html#af4428c8734c5b393df8072a14850d9b1">blmc_drivers::Leg::get_current_target</a></div><div class="ttdeci">virtual Ptr&lt; const ScalarTimeseries &gt; get_current_target(const int &amp;motor_index) const </div><div class="ttdoc">Get the actual target current. </div><div class="ttdef"><b>Definition:</b> leg.hpp:169</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_a2a11567617debfdb731ac06e2938712c"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#a2a11567617debfdb731ac06e2938712c">blmc_drivers::LegInterface::MotorIndexing</a></div><div class="ttdeci">MotorIndexing</div><div class="ttdoc">This enum list the motors in the leg. </div><div class="ttdef"><b>Definition:</b> leg.hpp:52</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_a57a35b64a76fb4225637828d1b1c35a6"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#a57a35b64a76fb4225637828d1b1c35a6">blmc_drivers::LegInterface::ScalarTimeseries</a></div><div class="ttdeci">real_time_tools::ThreadsafeTimeseries&lt; double &gt; ScalarTimeseries</div><div class="ttdoc">ScalarTimeseries is a simple shortcut for more intelligible code. </div><div class="ttdef"><b>Definition:</b> leg.hpp:32</div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_afe46102b0ce1c790e921d71f86868066"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#afe46102b0ce1c790e921d71f86868066">blmc_drivers::LegInterface::~LegInterface</a></div><div class="ttdeci">virtual ~LegInterface()</div><div class="ttdoc">Destroy the LegInterface object. </div><div class="ttdef"><b>Definition:</b> leg.hpp:57</div></div>
<div class="ttc" id="device__interface_8hpp_html"><div class="ttname"><a href="device__interface_8hpp.html">device_interface.hpp</a></div><div class="ttdoc">License BSD-3-Clause </div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_aaf3d3759b63a3ffe7e9cee360302f9b7"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#aaf3d3759b63a3ffe7e9cee360302f9b7">blmc_drivers::LegInterface::send_if_input_changed</a></div><div class="ttdeci">virtual void send_if_input_changed()=0</div><div class="ttdoc">Sender. </div></div>
<div class="ttc" id="classblmc__drivers_1_1LegInterface_html_a9335cf8bf2595f70716159927d927346"><div class="ttname"><a href="classblmc__drivers_1_1LegInterface.html#a9335cf8bf2595f70716159927d927346">blmc_drivers::LegInterface::MotorMeasurementIndexing</a></div><div class="ttdeci">MotorMeasurementIndexing</div><div class="ttdoc">MotorMeasurementIndexing this enum allow to access the different kind of sensor measurements in an un...</div><div class="ttdef"><b>Definition:</b> leg.hpp:46</div></div>
<div class="ttc" id="classblmc__drivers_1_1Leg_html"><div class="ttname"><a href="classblmc__drivers_1_1Leg.html">blmc_drivers::Leg</a></div><div class="ttdoc">The leg class is the implementation of the LegInterface. </div><div class="ttdef"><b>Definition:</b> leg.hpp:128</div></div>
<div class="ttc" id="motor_8hpp_html"><div class="ttname"><a href="motor_8hpp.html">motor.hpp</a></div><div class="ttdoc">License BSD-3-Clause </div></div>
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